CN1218815C - Robot cleaning machine, robot cleaning system and method for controlling them - Google Patents
Robot cleaning machine, robot cleaning system and method for controlling them Download PDFInfo
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- CN1218815C CN1218815C CNB021059802A CN02105980A CN1218815C CN 1218815 C CN1218815 C CN 1218815C CN B021059802 A CNB021059802 A CN B021059802A CN 02105980 A CN02105980 A CN 02105980A CN 1218815 C CN1218815 C CN 1218815C
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/009—Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2805—Parameters or conditions being sensed
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
- A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2857—User input or output elements for control, e.g. buttons, switches or displays
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2868—Arrangements for power supply of vacuum cleaners or the accessories thereof
- A47L9/2884—Details of arrangements of batteries or their installation
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2894—Details related to signal transmission in suction cleaners
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
- G05D1/0282—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal generated in a local control room
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- General Physics & Mathematics (AREA)
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- Automation & Control Theory (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
- Electric Suction Cleaners (AREA)
- Manipulator (AREA)
Abstract
A robot cleaner, robot cleaning system, and a method for controlling the same, the robot cleaner cleaning by wirelessly communicating with an external apparatus having a driving unit for driving a plurality of wheels; an upper camera disposed on a main body for photographing an upper image perpendicular to a direction of driving the robot cleaner; and a controller for controlling the driving unit to allow the robot cleaner to drive with a cleaning area according to a predetermined driving pattern, and compensating the driving path by analyzing the image photographed by the upper camera. The robot cleaner, the robot cleaning system, and the method for controlling the same, can recognize the robot cleaner position more accurately as the position is recognized by using an upper image that does not experience as much alteration as does a floor. Therefore, a movement error to a target position is reduced, and a commanded work can be performed more easily.
Description
Technical field
The present invention relates to robot cleaning machine, robot cleaner system and the method for controlling them, particularly can utilize when robot cleaning machine travels take above image control the robot cleaning machine that travels, robot cleaner system and the method for controlling them of robot cleaning machine.
Background technology
The peripheral track of ultrasonic sensor by the cleaning area that surrounded by wall or barrier that robot cleaning machine utilization commonly used is installed in the main frame body travels to determine the cleaning area, and designs cleaning route and clean definite cleaning area.After this, robot cleaning machine comes wheels to move along the cleaning route of design by the calculated signals operating range and the current location that detect from the sensor that is used to respond to wheel revolution and rotational angle.Yet because the slip of robot cleaning machine wheel when travelling and the bending on floor, the method for above-mentioned recognizing site is existing error by sensor between the operating range of the operating range of this calculated signals and shift position and reality and position.Cleaner travels far more, and the location recognition error of accumulation is big more.Therefore, the cleaner that is driven by the location recognition error of accumulating is understood the cleaning route of off-design.Therefore, some place may clean less than, and some place may have been cleaned several times.Like this, reduced cleaning efficiency.
Summary of the invention
The purpose of this invention is to provide a kind of can be by proofreading and correct travel route simply, and the current location of recognition machine people cleaner is carried out robot cleaning machine, robot cleaner system and the method for controlling them of cleaning order effectively exactly.
Above-mentioned purpose is to realize by comprising with the robot cleaning machine of lower part: this robot cleaning machine comprises the driver element that is used to drive a plurality of wheels; Be installed on one's body the main frame, be used to take the top video camera of the top image vertical with travel direction; Be installed in main frame on one's body so that take the front camera of the image relative with travel direction; Be used to control driver element and travel in a cleaning area according to the predetermined figure that travels to allow driven machine people cleaner, and by analyzing the controller of the image rectification travel route that the top video camera takes.
When operation was used to draw the pattern of cleaning area map, preferably controller was controlled according to predetermined travel route that this driver element travels and is generated image map about top area from the image of being taken by the top video camera in the cleaning area.In addition, carry out the signal of cleaning when input after, controller comes recognizing site by the movement images map with from the present image of top video camera input, and the control driver element is corresponding with the target travel route from the position of identification.
In addition, when sending the signal of carrying out cleaning, controller just generates this image map.
Preferably, controller generates image map by 3 D rendering from the top image of top video camera shooting and the front image of being taken by front camera.
Controller is divided into a plurality of junior units with preliminary dimension with image map, determines the special characteristic of divided junior unit, and the special characteristic of determining is set to be used for the standard coordinate point of recognizing site.This special characteristic comprises: bulb, fire sensor, at least a parts in fluorescent lamp and the loudspeaker.
When robot cleaning machine travelled, controller extracted linear element (lineal element) from the image of being taken by the top video camera, and utilized the linear element of extracting to proofread and correct driving trace.
Realize that according to the present invention the above-mentioned purpose robot cleaning machine comprises: the driver element that is used to drive a plurality of wheels; Have one and be installed on one's body the main frame, be used to take robot cleaning machine perpendicular to the top video camera of the top image of travel direction; Be installed in the front camera that main frame is used to take the image relative with the travel direction of robot cleaning machine on one's body; With the remote controller that is used for carrying out radio communication with robot cleaning machine.Remote controller travels in the cleaning area according to predetermined travel route control robot cleaning machine, and proofreaies and correct driving trace by analyzing the image that is sent by top video camera shooting back.
When operation was used to draw the pattern of cleaning area map, preferably remote controller was controlled this robot cleaning machine according to the predetermined figure that travels and is travelled in the cleaning area, and generated image map about top area from the image of being taken by the top video camera.In addition, behind the signal of having imported the execution cleaning, remote controller by the movement images map and from the top video camera take the back from robot cleaning machine send present image discern the position of this robot cleaning machine, and the cleaning circuit of control robot cleaning machine is carried out target work from the position of identification.
When sending the signal of carrying out cleaning, it is feasible that remote controller generates image map.
In addition, remote controller is taken the back by 3 D rendering respectively by top gamma camera and front camera and is generated image map from top image and the front image that robot cleaning machine sends.
When control the travelling of robot cleaning machine, the suggestion remote controller extracts linear element from the image of being taken the back by the top video camera and sending, and utilizes the linear element of extracting to proofread and correct driving trace.
Control robot cleaning machine according to the present invention and realize that the method for above-mentioned purpose comprises step: by generating image map from the image of taking by the top gamma camera about top area according to predetermined travel route driven machine people cleaner in the cleaning area; After having imported the signal of carrying out cleaning, come the position of recognition machine people cleaner by the image of the image map of record relatively with from the present image that the top video camera is taken, and calculate from the position of identification to the travel route of destination locations; According to the travel route driven machine people cleaner that calculates.
According to another aspect of the present invention, the method for control robot cleaning machine comprises step: when judging when drawing the pattern of cleaning area, generate the cleaning area map and store this map by driven machine people cleaner in the cleaning area; When signal that input is cleaned, calculate the driving path corresponding with the clean operation of being ordered; According to the driving path driven machine people cleaner that calculates; And proofread and correct driving path by analyzing the image of taking from the top video camera.
The driving path aligning step preferably extracts linear element from the image of being taken by the top video camera, and utilizes the linear element of extracting to proofread and correct driving path.
Description of drawings
By being described with reference to the drawings, the preferred embodiments of the present invention will make purpose of the present invention and feature become more obvious, wherein:
The perspective view of Fig. 1 state that to be expression separate with cleaner according to the lid of robot cleaning machine of the present invention;
Fig. 2 is the block diagram of expression according to robot cleaner system of the present invention;
Fig. 3 is the block diagram of the central control unit of presentation graphs 2;
Fig. 4 is the schematic diagram that the robot cleaning machine of presentation graphs 1 is placed on indoor state;
Fig. 5 is the schematic diagram of the travel route of expression robot cleaning machine in Fig. 4 indoor;
Fig. 6 is expression by the schematic diagram of an example drawing the image map that the image taken along travel route shown in Figure 5 generates;
Fig. 7 is a flow chart of representing the control procedure of robot cleaning machine in accordance with a preferred embodiment of the present invention;
Fig. 8 is the schematic diagram of another example of expression indoor ceiling; With
Fig. 9 is the flow chart of expression according to the control procedure of the robot cleaning machine of another preferred embodiment of the present invention.
The specific embodiment
Below, with preferred embodiments of the present invention will be described in detail with reference to the annexed drawings.
Referring to Fig. 1 and Fig. 2, robot cleaning machine 10 comprises suction unit 11, sensing cell 12, front camera 13, top video camera 14, driver element 15, memory 16, transmitter 17 and controller 18.Reference number 19 is batteries.
Sensing cell 12 sends signal to the outside.Sensing cell 12 comprises with predetermined spacing and is installed in main frame body peripheral side receiving the obstacle detecting sensor 12a of reflected signal, and the operating range detecting sensor 12b that is used to measure operating range.
Obstacle detecting sensor 12a has and a plurality ofly is used to launch ultrared infrared light-emitting component 12a1 and is used to receive catoptrical light receiving element 12a2.Infrared light-emitting component 12a1 places along the peripheral vertical long of obstacle detecting sensor 12a over the ground with light receiving element 12a2.On the other hand, obstacle detecting sensor 12a can adopt the sonac that can launch ultrasonic wave and receive reflection supersonic wave.Obstacle detecting sensor 12a also is used for the distance of robot measurement cleaner and barrier or between the walls.
Operating range detecting sensor 12b can adopt and be used to detect the rotation detecting sensor of wheel 15a to the rotation number of turns of 15d.For example, the rotation detecting sensor can adopt and be used for detecting respectively motor 15e, the encoder of the rotation number of turns of 15f.
Driver element 15 comprises: be placed on two wheel 15a of front end both sides, 15b; Be placed on two wheel 15c of both sides, rear end, 15d; Be used for making respectively trailing wheel 15c, the motor 15e that 15d rotates, 15f; Be used for trailing wheel 15c, the energy that 15d produces passes to front-wheel 15a, the timing conveyer belt 15g of 15b.Driver element 15 is according to the control signal of controller 18 drive motors 15e independently, 15f to the right or rightabout rotate.Can be by rotating with different revolution drive motors.
Transmitter 17 sends target data by antenna 17a, and sends the signal that sends by antenna 17a to controller 18.
The signal that controller 18 is handled by transmitter 17 emissions, and control each parts.When main frame body 10a provides the press key input device with a plurality of buttons of setting up function that are used for operating means, the push button signalling that controller 18 is handled by the press key input device input.
When controller 18 bases were travelled in the cleaning area by the definite travel route control driver element 15 of cleaning order, the image that controller 18 is taken by analysis top video camera 14 was proofreaied and correct the travel route of robot cleaning machine.
According to a first aspect of the invention, when foundation is used to generate the pattern of image drafting, controller 18 is by controlling driver element 15 driven machine people cleaners 10 according to travelling in the cleaning area with the predetermined travel route that generates map, generate the image map of relevant top area from the image of taking by top video camera 14, and the image map that generates is stored in the memory 16.When carrying out the signal of the pattern that generates image map from the outside or by the press key input device input command, can carry out with the patterns that generate image map by start-up control device 18 by wireless mode.On the other hand, when by wireless mode from the outside or press key input device when sending the cleaning order, can before carrying out cleaning, set up the pattern that is used to generate image map of carrying out by start-up control device 18.
Controller 18 control driver elements 15 are taken by the cleaning area of barrier or wall encirclement according to the travel route of setting up, and in other words, when operation is used to generate the pattern of image map, come to take whole room with top video camera 14 by dividing the room.As the example of this travel route, controller 18 makes robot cleaning machine move ahead from current location, and when obstacle sensor 12a detected wall or other obstacle, this position was set to original position.After this, controller 18 control driver elements 15 driven machine people cleaners 10 travel along wall and return its original position up to robot cleaning machine 10.Then, controller 18 in the zone of determining by the profile that travels along travel route driven machine people cleaner 10 with arranged at regular intervals.In other words, controller 18 control driver elements 15 are along the travel route 22 driven machine people cleaners 10 according to cleaning area 21 designs of determining as shown in Figure 5.At this moment, the spacing of determining travel route 22 with the time top image be continuous.Robot cleaning machine 10 follow take when sailing route 22 and move above image.In addition, determine preferably that the frame cycle of taking takes when mobile or the adjacent image of the top image of extraction have 10% to 20% overlapping.Determine that the method in shooting cycle can finish by preceding a plurality of images of taking several times.On the other hand, the shooting cycle can set up from the distance of floor to ceiling by the visual angle and the normal room of forethought top video camera 14, just can take according to the shooting cycle of each foundation then.
As shown in Figure 6, the image that drives into video camera 14 shootings in top in the journey of being expert at is stored in the memory 16 as the epigraph map, on ceiling shown in the installation diagram 4 such as bulb 31, fire sensor 32, during with the parts of fluorescent lamp 33 and so on, wherein specifically change, control the image relevant with parts by controller.
The image map that controller 18 preferably will be stored in the memory 16 is divided into a plurality of unit.In addition, controller 18 carries out the image processing that special characteristic is set to standard coordinate point by the special characteristic that extracts in the image corresponding with each unit, and this standard coordinate point is used for recognizing site, so that easily judge the position of robot cleaner 10.For example, for the image of taking at the installing component 31,32,33 of Fig. 4, with bulb 31, fire sensor 32, and the special characteristic that directly is defined as being used for image processing method according to fluorescent lamp 33.The image processing method that extracts special characteristic from the image of taking can adopt the various methods of knowing.For example, can adopt after the image transitions that will take becomes grey level, handle the method that has the coordinate points that the picture element of similar value calculates with this special characteristic by connecting.In addition, after good relevant with the special characteristic view data distribution pattern of storage in advance, the image-region that will have similar distribution with the data value of record is defined as corresponding special characteristic.
According to a second aspect of the invention, controller 18 front image of taking from front camera 13 by 3 D rendering and generate image from the top image that top video camera 14 is taken and draw soil and the image that generates is drawn soil and be stored in the memory 16.When generating and use the 3-D view map, can improve the precision of location recognition.In this case, when recognizing site, preferably handle location recognition earlier from the top image of fixed part with less variation.In the time can not discerning this position exactly, suggestion is again with reference to front image.
Described by controller 18 and directly generated image map, the position of robot cleaning machine 10 is to utilize the image map that generates oneself to be discerned by it.
According to a third aspect of the present invention, set up robot cleaner system so that the generation and the location recognition of the top image map of external treatment machine people cleaner 10 generate the image map of robot cleaning machine 10 and the required service load in position of recognition machine people cleaner 10 with reduction.
For this purpose, constitute robot cleaning machine 10, and operate according to the control signal that sends from the outside to outside wireless transmission captured image information.In addition, remote controller 40 controlled in wireless robot cleaning machines 10 travels the position of recognition machine people's cleaner 10, and generation image map.
Remote controller 40 comprises wireless relay device 41 and central control unit 50.
Wireless relay device 41 is handled from the wireless signal of robot cleaning machine 10 transmissions and by wired mode and is sent the signal of handling to central control unit 50.In addition, wireless relay device 41 sends to robot cleaning machine 10 to the signal from central control unit 50 emissions by antenna 42.
Constitute CPU 50 with common computer, Fig. 3 shows an example of central control unit 50.With reference to figure 3, central control unit 50 comprises CPU (CPU) 51, and ROM 52, and RAM 53, display unit 54, input unit 55, memory 56, and communicator 57.
Robot cleaning machine driver 56a provides by display unit 54 menu that robot cleaning machine 10 is controlled is set, and when operating, carries out the menu that the user selects by robot cleaning machine 10.Menu comprises widely that preferably the cleaning area map generates, cleaning, and supervisory work.In addition, suggestion provides image map to generate, the target area selective listing, and clean method is as sub-choice menus.
Under the situation of the menu that is used to generate cleaning area map or image map, when robot cleaning machine 10 carries out clean operation, the user preferably can set up a week or one month with image map relevant update cycle of new situation more.
As mentioned above, when the user was used to generate the signal of image map or generation and sets up image map by input unit 55 input, robot cleaning machine driver 56a control robot cleaning machine 10 received the top image that generates the required whole cleaning area of image maps.Robot cleaning machine driver 56a generates image map by the image of drawing by 10 emissions of control robot cleaning machine, and the image map that generates is stored in memory 56.In this case, the controller 18 of robot cleaning machine 10 generates relevant service load according to controlling driver element 15 from robot cleaning machine driver 56a by the control information of wireless relay device 41 emissions so just can omit with image map.In addition, when robot cleaning machine drives central control unit 50 by wireless relay device 41, the top image that controller 18 emissions were taken by the fixed cycle.Robot cleaning machine driver 56a can be by drawing front image and the top image generates image map together.
The location recognition method of the robot cleaning machine of operating according to said method 10 is described referring to Fig. 7.
At first, controller 18 judges whether to carry out the pattern (S100) that generates image map.
When judging is when generating the pattern of image map, and controller 18 driven machine people cleaners 10 are taken whole top image (S110).
After this, controller 18 has judged whether to launch the order of cleaning (S130).
When judging cleaning order and launched, controller 18 is by relatively coming the position (S140) of recognition machine people cleaner 10 from the image map of the epigraph of top video camera 14 emissions and storage.When image map in step 140 comprised the information of relevant front image, also available current front image was discerned this position.
Then, the driving path (S150) that moves to cleaning area or cleaning path from the current location of identification is calculated in the controller 18 corresponding cleaning orders that send.
Then, controller 18 is according to driving path driven machine people cleaner 10 (S160) that calculate.
After this, whether controller 18 judgment tasks finish (S170).Be operated in and be meant here along cleaning path and travel or move the clean up task of carrying out to the target location.When judgment task also imperfect tense, then repeat S140 to S160 and finish up to work.
On the other hand,, when ceiling has the right angle profile, adopt, handle burden with the correction that reduces relevant driving path by taking the method for ceiling driven machine people cleaner 10 according to the 4th preferred embodiment of the present invention.
For example, as shown in Figure 8, when arranging rectangle plasterboard 34 on the ceiling or a plurality of direct illumination fluorescent lamp 35 has been installed on ceiling, set up controller 18 or/and remote controller 40 utilizes the condition of the ceiling that linear profile is provided to proofread and correct the error of travelling.
For this purpose, when robot cleaning machine 10 in motion, the method at the edge that the processing that controller 18 utilization is known detects is extracted linear element from the image of being taken by top video camera 14, and utilizes the linear element information of extracting to proofread and correct driving trace.
In other words, controller 18 calculates the driving trace error by detecting the driving trace error with encoder, and control driver element 15 allows robot cleaning machine 10 to return the target driving trace according to the error of calculating.After this, controller 18 utilizes by analyzing from the directional information of the linear element of top video camera 14 shot image data extraction, proofreaies and correct the error of travelling by the course deviation error of calculating robot's cleaner 10.
Said method can be used for previously described robot cleaner system.
Here, the method for handling the image that detects the edge can adopt the whole bag of tricks, as " Sobel algorithm " or " Navatiark Babu algorithm ".
Describe in detail by extracting the robot cleaning machine control procedure that linear element is proofreaied and correct the error of travelling referring to Fig. 9 from the top image.
At first, controller 18 judges whether to carry out the pattern (S200) that generates the cleaning area map.
When judgement is that controller 18 driven machine people cleaners 10 are mobile (S210) in the cleaning area when generating the pattern of cleaning area map.
Identical in the travel route of the robot cleaning machine 10 relevant and the above-mentioned example with the pattern that generates the cleaning area map.At first, drive forwards robot cleaning machine 10, when obstacle detecting sensor 12a detects wall or other barrier, then this position is decided to be original position.After this, controller 18 control driver elements 15 driven machine people cleaners 10 travel along the profile of wall along the room, return its original position up to robot cleaning machine 10.Next, controller 18 driven machine people cleaners 10 travel in the zone that the profile that travels that forms along the travel route by the preset space length expansion is determined.Controller 18 utilizes the information or the travel route of the relevant barrier that detects during aforesaid travelling to generate the cleaning area map, and storage cleaning area map (S220).On the other hand, generate the cleaning area map with the method identical with the pattern of above-mentioned generation image map, and storage.
After this, controller 18 has judged whether to send the order (S230) of carrying out cleaning.
When controller 18 judged that having sent cleaning orders, the driving path (S240) that moves to cleaning area or cleaning path was calculated in 18 corresponding cleaning orders that send of controller.
Then, controller 18 is according to driving path driven machine people cleaner 10 (S250) that calculate.
When robot cleaning machine 10 moved, controller 18 extracted linear element from the image of being taken by top video camera 14, and utilized the linear element information correction that the extracts error (S260) of travelling.At this, be preferably in the treatment of picture of the cycle execution analysis of each setting from 14 shootings of top video camera, handle burden to reduce image.
Then, controller 18 is judged by whether finishing (S270) by the cleaning of said process driven machine people cleaner 10.Do not finish if judge cleaning, controller 18 repeats S240 to S260, finishes cleaning up to robot cleaning machine 10.
As so far described, because the top image that robot cleaning machine 10 can utilize the fixed part with less variation is recognizing site more accurately, according to robot cleaning machine of the present invention, robot cleaner system and the method for controlling them can more easily be carried out cleaning order by the error of travelling that reduces to the target location.
So far, have illustrated and described the preferred embodiments of the present invention.Yet, the invention is not restricted to embodiment described herein, can make amendment to the present invention under the situation of the main points of the present invention that those skilled in the art require in not twisting the claim part.
Claims (17)
1. one kind by carrying out the robot cleaning machine that radio communication cleans with external device (ED), comprising:
Be used to drive the driver element of a plurality of wheels;
Be installed in main frame on one's body so that take the top video camera of the top image vertical with travel direction;
Be installed in main frame on one's body so that take the front camera of the image relative with travel direction; With
Be used to control driver element so that robot cleaning machine travels in the cleaning area according to predetermined travel route, and pass through the controller of the image rectification travel route of analysis top video camera shooting.
2. robot cleaning machine according to claim 1, it is characterized in that when operation is used to draw the pattern of cleaning area, controller moves in the cleaning area according to predetermined travel route control driver element and generates image map about top area from the image that the top video camera is taken, carry out the signal of cleaning when input after, controller is by comparing recognizing site with image map and present image from top video camera input, and the control driver element from the position of identification corresponding to the target travel route.
3. robot cleaning machine according to claim 2 is characterized in that controller is when sending the signal of carrying out cleaning, the generation image map.
4. robot cleaning machine according to claim 2 is characterized in that the front image that controller is taken from the top image and the preceding video camera of the shooting of top video camera by 3 D rendering generates image map.
5. robot cleaning machine according to claim 2, it is characterized in that controller is divided into a plurality of junior units with preliminary dimension with image map, determine the special characteristic of divided junior unit, and the special characteristic of determining is set to be used for the standard coordinate point of recognizing site.
6. robot cleaning machine according to claim 5 is characterized in that special characteristic comprises at least a parts in bulb, fire sensor, fluorescent lamp and the loudspeaker.
7. robot cleaning machine according to claim 1 is characterized in that controller extracts linear element when robot cleaning machine travels from the image of being taken by the top video camera, and utilizes the linear element of extracting to proofread and correct driving trace.
8. a robot cleaner system comprises: the driver element that is used to drive a plurality of wheels; Have and be installed in main frame and be used to take robot cleaning machine on one's body perpendicular to the top video camera of the top image of travel direction; Be installed in the front camera that main frame is used to take the image relative with the travel direction of robot cleaning machine on one's body; With the remote controller that is used for carrying out radio communication with robot cleaning machine,
Wherein remote controller travels in the cleaning area according to predetermined travel route control robot cleaning machine, and proofreaies and correct driving trace by analyzing the image that is sent by top video camera shooting back.
9. robot cleaner system according to claim 8, it is characterized in that when operation is used to draw the pattern of cleaning area, remote controller moves in the cleaning area according to predetermined travel route control robot cleaning machine, and generate image map about top area from the image of taking by the top video camera, in addition, carry out the signal of cleaning when input after, remote controller compares the position of recognition machine people cleaner by the present image that sends from robot cleaning machine after taking with image map and from the top video camera, and controls the cleaning circuit of robot cleaning machine so that carry out target work from the position of discerning.
10. robot cleaner system according to claim 9 is characterized in that remote controller is when sending the signal of carrying out cleaning, the generation image map.
11. robot cleaner system according to claim 10 is characterized in that remote controller generates image map from top video camera and anterior gamma camera shooting back from top image and the front image that robot cleaning machine sends respectively by 3 D rendering.
12. robot cleaner system according to claim 9, it is characterized in that remote controller is divided into a plurality of junior units with preliminary dimension with image map, determine the special characteristic of divided junior unit, and the special characteristic of determining is set to be used for the standard coordinate point of recognizing site.
13. robot cleaner system according to claim 12 is characterized in that special characteristic comprises at least a parts in bulb, fire sensor, fluorescent lamp and the loudspeaker.
14. robot cleaner system according to claim 8 is characterized in that when the control robot cleaning machine travelled, remote controller extracted linear element from the image of being taken the back transmission by the top video camera, and utilizes the linear element of extracting to proofread and correct driving trace.
15. a method that is used to control the robot cleaning machine of the front camera with the top video camera of taking top image image relative with travel direction with shooting comprises step:
By in the cleaning area, moving,, generate image map according to top video camera and the captured image of front camera according to predetermined travel route driven machine people cleaner;
Carry out the signal of cleaning when input after, the image of the image map by will record compares the position of recognition machine people cleaner with the present image of taking from top video camera and front camera, and calculates from the position of identification to the travel route of target location;
According to the travel route driven machine people cleaner that calculates.
16. a method that is used to control the robot cleaning machine of the front camera with the top video camera of taking top image image relative with travel direction with shooting comprises step:
When judging when drawing the pattern of cleaning area, generate the cleaning area map and store this map by driven machine people cleaner is mobile in the cleaning area;
When signal that input is cleaned, calculate with cleaning and order corresponding driving path;
According to the driving path driven machine people cleaner that calculates; With
By analyzing from the image rectification driving path of top video camera and front camera shooting.
17. the method for control robot cleaning machine according to claim 16 is characterized in that the driving path aligning step extracts linear element from the image of being taken by the top video camera, and utilizes the linear element of extracting to proofread and correct driving path.
Applications Claiming Priority (4)
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| KR20010020754 | 2001-04-18 | ||
| KR200120754 | 2001-04-18 | ||
| KR200165888 | 2001-10-25 | ||
| KR10-2001-0065888A KR100406636B1 (en) | 2001-04-18 | 2001-10-25 | Robot cleaner and system and method of controling thereof |
Publications (2)
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| CN1381340A CN1381340A (en) | 2002-11-27 |
| CN1218815C true CN1218815C (en) | 2005-09-14 |
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| CNB021059802A Expired - Fee Related CN1218815C (en) | 2001-04-18 | 2002-04-11 | Robot cleaning machine, robot cleaning system and method for controlling them |
Country Status (10)
| Country | Link |
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| US (1) | US6732826B2 (en) |
| JP (1) | JP2002325708A (en) |
| CN (1) | CN1218815C (en) |
| AU (1) | AU751807B2 (en) |
| DE (1) | DE10164278B4 (en) |
| FR (1) | FR2823868B1 (en) |
| GB (1) | GB2376537B (en) |
| NL (1) | NL1019692C2 (en) |
| RU (1) | RU2220643C2 (en) |
| SE (1) | SE520911C2 (en) |
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| SE0200898D0 (en) | 2002-03-26 |
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| DE10164278B4 (en) | 2011-09-29 |
| CN1381340A (en) | 2002-11-27 |
| SE520911C2 (en) | 2003-09-09 |
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